US7337014B2 - Teach pendant control method and device - Google Patents

Teach pendant control method and device Download PDF

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Publication number
US7337014B2
US7337014B2 US10/559,336 US55933605A US7337014B2 US 7337014 B2 US7337014 B2 US 7337014B2 US 55933605 A US55933605 A US 55933605A US 7337014 B2 US7337014 B2 US 7337014B2
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Prior art keywords
state
relay
teach pendant
operating
contact
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US10/559,336
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US20060138989A1 (en
Inventor
Keijiro Yuasa
Takeshi Horibe
Michiharu Tanaka
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Yaskawa Electric Corp
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Yaskawa Electric Corp
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Assigned to KABUSHIKI KAISHA YASKAWA DENKI reassignment KABUSHIKI KAISHA YASKAWA DENKI ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: HORIBE, TAKESHI, TANAKA, MICHIHARU, YUASA, KEIJIRO
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/427—Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, leader-follower control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36162—Pendant control box

Definitions

  • the present invention relates to a control method for a teach pendant used for a manipulation for teaching an operation to devices such as industrial robots or machine tools, and more particularly to an improvement of a control method for permitting or inhibiting the operation of the device by a teach pendant.
  • a teaching operator ordinarily holds such a teach pendant by one hand and performs operations for input keys by the other hand to teach the machines.
  • the industrial robots or the NC machine tools as objects to be taught sequentially carry out operations respectively for steps in accordance with a teaching operation. For example, a driving operation of a motor, a swing operation of an arm, an operation for turning on a work head (for instance, a welding gun) or the like are performed.
  • the device may sometimes make an operation different from that intended by the teaching operator owing to a mistake in teaching operation or the defects of the parts of the device.
  • a safety system of the device needs to be constructed so that the teaching operation is immediately inhibited or the device is quickly stopped.
  • an enable switch is employed so that the teaching operation is assuredly inhibited and the device is immediately stopped.
  • the enable switch is arranged at both sides of the teach pendant for the whip hand of the teaching operator or for the purpose of improving the efficiency of the teaching operation, and proposed and used so as to be operated by both the hands.
  • a below-described enable contact signal of the three-position switch is outputted to the device.
  • An enable contact is constructed so as to open to have the inhibiting state that the operation of the device is inhibited when a pressing-down stroke is operated to be located in the first operating position smaller than a prescribed range and to be located in a third operating position larger than the prescribed range, and so as to close to have the permitting state that the operation of the device is permitted when the pressing-down stroke is operated to be located in a second position within the prescribed range.
  • the enable contact is placed at the third operating position once, in the second operating position where the pressing-down stroke is mitigated until the enable contact is placed at the first operating position, the enable contact is not closed to maintain the inhibiting state that the operation of the device is inhibited.
  • the teaching operator may hold the teach pendant by a left hand and carries out the teaching operation by a right hand, or vice versa.
  • the three-position switches are arranged at two positions including a part which left fingers touch and a part which right fingers touch so that the teach pendant can be arbitrarily shifted from one hand to the other hand.
  • the two three-position switches can respectively permit the device to be operated.
  • the three-position switches are desirably constructed so that when one three-position switch is located at the third operating position, the inhibiting state that the operation of the device is inhibited is established until both the three-position switches are placed at the first operating positions, as proposed in Patent Document 1 and patent Document 2.
  • Patent Document 1 JP-A-2002-355781
  • Patent Document 2 JP-A-2002-83522
  • the teaching operator grips the teach pendant by one hand and carries out an operation for pressing down input keys by the other hand to perform the teaching operation.
  • the operator has a chance to arbitrarily shift the teach pendant from one hand to the other hand due to the fatigue of fingers or hands.
  • An operating method during shifting the teach pendant from one hand to the other hand includes two methods of (1) that both the three-position switches are opened once to obtain the first operating positions and the other three-position switch is operated to be located at the second operating position, or (2) that both the three-position switches are placed at the second operating positions and the other switch is opened to be located at the first operating position.
  • the inhibiting states are realized once that the operation of the device is inhibited.
  • a driving power is interrupted and driving energy is opened to ensure an assured safety.
  • the inhibiting state is established once, the driving power needs to be turned on and the driving energy needs to be accumulated until the permitting state that the operation of the device is permitted is subsequently established and the device operates.
  • the present invention is proposed by considering the above-described problems and it is an object of the present invention to provide a control method for a teach pendant in which an operation can be continuously carried out without interrupting the operation during shifting the teach pendant from one hand to the other hand and a safety is considered in the control method of the teach pendant used when an teaching of an operation or a simulation of the operation is carried out relative to industrial robots or machine tools.
  • the teach pendant including: two three-position switches respectively having three operating positions of first operating positions, second operating positions and third operating positions in accordance with pressing-down strokes, the three-position switch having: a detecting unit for detecting the first operating position and the third operating position to permit or inhibit the operation of a device in accordance with the operating positions, the control method including:
  • control method for a teach pendant defined in claim 2 , wherein when both the three-position switches are located at the second operating positions from the first operating positions, the measurement of time is started, and while the measured time is smaller than the prescribed time, when at least one of the three-position switches is located at the position of above-described other positions, the measurement of the time is stopped.
  • the inhibiting state for inhibiting the operation of the device is established after the prescribed time to improve a safety.
  • the teach pendant including: two three-position switches respectively having three operating positions of first operating positions, second operating positions and third operating positions in accordance with pressing-down strokes, the three-position switch including: a signal processing circuit having a detecting contact for detecting the first operating position and the third operating position to permit or inhibit the operation of a device in accordance with the operating positions, wherein the signal processing circuit has detecting contact signals of the three-position switches as inputs to establish an inhibiting state of the operation of the device when both the three-position switches are located at the second operating positions for a time exceeding a prescribed time, and to allow both the three-position switches to be located at the first operating positions to cancel the inhibiting state of the operation of the device.
  • the control device for a teach pendant defined in claim 4 is characterized in that the signal processing circuit includes a circuit having a relay.
  • control device for a teach pendant defined in claim 5 is characterized in that the signal processing circuit includes a circuit having either a logic element or a logic operation element.
  • control device for a teach pendant is characterized in that the signal processing circuit is arranged in a teach pendant main body or the device.
  • the signal processing circuit can be easily formed by using the relay, the logic element and the logic operation element and a part or an entire part of the circuit can be disposed in the device from the inner part of the teach pendant main body, the teach pendant gripped by the teaching operator can be miniaturized and light-weighted.
  • the inhibiting state that the operation of the device is inhibited is not established so that the teaching operation can be continuously carried out, and when the teaching operator holds the teach pendant by both hands owing to a surprise for the operation of the device that is not expected, the inhibiting state for inhibiting the operation of the device is realized.
  • the teach pendant with a high safety can be effectively provided.
  • FIG. 1 is a circuit block diagram of a first embodiment-for embodying the present invention.
  • FIG. 2 is a state transition diagram of the first embodiment for embodying the present invention.
  • FIG. 3 is a circuit block diagram of a second embodiment for embodying the present invention.
  • FIG. 4 is a signal processing table of the second embodiment for embodying the present invention.
  • FIG. 1 a circuit block diagram of a first embodiment for embodying the present invention. Electric articles such as switches and relays forming a circuit are divided and arranged in a teach pendant not shown in the drawing or the teach pendant and a device that is not illustrated.
  • Reference numeral 61 designates a three-position switch for a left hand and has three operating states of a first operating position, a second operating position and a third operating position.
  • Enable contacts 61 - 4 and 61 - 5 close the circuit in the second operating position and open the circuit in other positions than the second operating position.
  • Operation detecting contacts 61 - 1 and 61 - 2 as auxiliary contacts close the circuit in the first operating position and open the circuit in other positions than the first operating positions.
  • a third operating position detecting contact 61 - 3 as an auxiliary contact is provided that opens the circuit in the third operating position and closes the circuit in other positions than the third operating position.
  • a three-position switch 62 for a right hand is equipped with operation detecting contacts 62 - 1 and 62 - 2 , a third operating position detecting contact 62 - 3 and enable contacts 62 - 4 and 62 - 5 .
  • the third operating position detecting contact 61 - 3 of the three-position switch 61 for a left hand is connected in series to the third operating position detecting contact 62 - 3 of the three-position switch 62 for a right hand.
  • the other side of a relay 66 is connected to 0V and the other part of the third operating position detecting contact 61 - 3 of the three-position switch 61 for a left hand is connected to the dc 24V (a description of connection to the dc 24V and 0V will be omitted hereinafter).
  • This circuit line is a third operating position detecting line 72 that detects the third operating position, since when at least one three-position switch is placed at the third operating position, the third operating position detecting contact of the three-position switch opens the circuit.
  • the operation detecting contact 61 - 1 of the three-position switch 61 for a left hand is connected in series to the operation detecting contact 62 - 1 of the three-position switch 62 for a right hand to form an operation detecting line 71 for opening the circuit when at least one three-position switch is operated and the operation line detecting line 71 is connected to a constantly opening contact 68 a of a relay 68 .
  • the operation detecting contact 61 - 2 of the three-position switch 61 for a left hand is connected in parallel with the operation detecting contact 62 - 2 of the three-position switch for a right hand to form a both switch operation detecting line 73 for opening the circuit when both the three-position switches 61 and 62 are operated and the both switch operation detecting line 73 is connected to in series to a constantly opening contact 63 a 3 of a relay 63 .
  • the both switch operation detecting line 73 is connected in parallel with the other side (line 74 ) of the constantly opening contact 68 a of the above-described relay 68 connected to the operation detecting line 71 , and then, connected in series to a constantly opening contact 66 a of a relay 66 and the relay 63 .
  • a resistor 64 is connected in series to a condenser 65 and connected to 0V. Further, a resistor 67 is connected in series to a constantly closing contact 66 b of the relay 66 and connected in parallel with the condenser 65 .
  • the condenser 65 is provided to delay the off-state of the relay 63 for a prescribed time (for instance, one second).
  • the resistor 64 serves to limita current during storage to the condenser 65 and protect a contact across which the stored current is supplied.
  • the constantly closing contact 66 b of the relay 66 serves to close the circuit when at least one three-position switch is placed at the third operating position to rapidly discharge electric charge stored in the condenser 65 .
  • the resistor 67 protects the constantly closing contact 66 b during the rapid discharge.
  • a constantly closing contact 63 b of the relay 63 is connected to the relay 68 .
  • a resistor 69 and a condenser 70 connected in series are connected in parallel with the relay 68 to delay the off-state of the relay 68 for a prescribed time.
  • the enable contact 61 - 4 of the three-position switch 61 for a left hand is connected in parallel with the enable contact 62 - 4 of the three-position switch for a right hand, and connected in series to a constantly opening contact 63 a 1 of the relay 63 and a constantly closing contact 68 b 1 of the relay 68 to form an enable contact output signal.
  • Other enable contacts 61 - 5 and 62 - 5 are likewise connected in parallel with each other, and then, connected in series to a constantly opening contact 63 a 2 of the relay 63 and a constantly closing contact 68 b 2 of the relay 68 to form an enable contact output signal.
  • the enable contact output signal has two systems, because a duplex circuit is formed not so as to harm the safety of a device, even one is failed.
  • one system may be adopted or three systems or more may be prepared for use of other purposes.
  • FIG. 2 is a state transition diagram in this embodiment and shows the operating positions of the three-position switches and the permitting state and the inhibiting state of the operation of the device. An operation of the circuit shown in FIG. 1 is described in accordance with a state transition of FIG. 2 .
  • the operation detecting contacts 61 - 1 and 62 - 1 close the circuit.
  • the electric current is supplied to the relay 63 to excite and turn on the relay 63 and sore the condenser 65 .
  • the constantly opening contact 63 a 3 of the relay 63 closes the circuit and the operation detecting contacts 61 - 2 and 62 - 2 of the three-position switches also close the circuit, so that a self-holding circuit to the relay 63 is formed.
  • the relay 63 is turned on, the constantly closing contact 63 b thereof opens the circuit.
  • the relay 68 is turned off.
  • the state of the enable contacts 61 - 4 and 62 - 4 becomes a stand-by state in which the enable contact output signal can be outputted.
  • the enable contact output signal of other enable contacts 61 - 5 and 62 - 5 can be also outputted.
  • the teaching operator grips the teach pendant and the three-position switch 61 for a left hand is placed at the second operating position, the enable switches 61 - 4 and 61 - 5 close the circuit to output the enable contact output signal and obtain the permitting state 1 (state 2 ) for permitting the operation of the device.
  • the third operating position detecting contact 61 - 3 of the three-position switch 61 for a left hand opens the circuit.
  • the relay 66 connected thereto is turned off and the constantly opening contact 66 a thereof opens the circuit.
  • the relay 63 connected thereto is also turned off so that the above-described self-hold is cancelled.
  • the constantly closing contact 63 b of the relay 63 closes the circuit and electric current is supplied to the relay 68 connected thereto to excite and turn on the relay 68 .
  • the constantly opening contacts 63 a 1 and 63 a 2 of the relay 63 and the constantly closing contacts 68 b 1 and 68 b 2 of the relay 68 in the circuits of the enable contact output signals open the circuits. Even when the enable contacts 61 - 4 , 61 - 5 , 62 - 4 and 62 - 5 close the circuits owing to welding, the outputs of the enable contact output signals are interrupted to have an inhibiting state 4 (state 3 ) for inhibiting the operation of the device. At this time, the electric charge stored in the condenser 65 is discharged through the constantly closing contact 66 b of the relay 66 closing the circuit.
  • both the three-position switches 61 and 62 are placed at the second positions once, and then, the three-position switch 61 for a left hand is released.
  • the operation detecting contacts 61 - 1 , 61 - 2 , 62 - 1 and 62 - 2 open the circuit to interrupt the supply of power to the operation detecting line 71 and the both switch operation detecting line 73 .
  • the condenser 65 begins to discharge to delay the off-state of the relay 63 for a prescribed time. That is, the relay 63 maintains an on-state and the relay 68 connected to the constantly closing contact 63 b thereof also maintains an off-state.
  • the states of the enable contacts 61 - 4 , 61 - 5 , 62 - 4 , and 62 - 5 become a permitting state 3 (state 4 ) that the enable contact output signals are outputted to permit the operation of the device.
  • the operation detecting contact 61 - 2 closes the circuit so that the power is supplied to the relay 63 again to maintain the self-holding circuit to the relay 63 .
  • the constantly opening contacts 63 a 1 and 63 a 2 of the relay 63 and the constantly closing contacts 6 8 1 and 68 b 2 of the-relay 68 in the circuits of the enable contact output signals keep closing the circuits, and the states of the enable contacts 62 - 4 and 62 - 5 closing the circuits become a permitting state 2 (state 5 ) that the enable contact output signals are outputted to permit the operation of the device.
  • the relay 63 When the above-described permitting state 3 is maintained, the relay 63 is turned off for a prescribed time owing to the discharge of the condenser 65 , the constantly closing contact 63 b closes the circuit and the relay 68 connected thereto is turned on. Since the constantly opening contacts 63 a 1 and 63 a 2 of the relay 63 and the constantly closing contacts 68 b 1 and 68 b 2 of the relay 68 in the circuits of the enable contact output signals open the circuits, even when the enable contacts 61 - 4 , 61 - 5 , 62 - 4 and 62 - 5 of the three-position switches 61 and 62 close the circuits, the outputs of the enable contact output signals are interrupted to have an inhibiting state 2 (state 6 ) for inhibiting the operation of the device.
  • the third operating position detecting contact 62 - 3 of the three-position switch 62 for a right hand opens the circuit, so that the power of the relay 66 connected thereto is interrupted to be turned off.
  • the constantly opening contact 66 a opens the circuit to turn off the relay 63 and turn on the relay 68 connected to the constantly closing contact 63 b .
  • the outputs of the enable contact output signals are interrupted to have an inhibiting state 8 (state 7 ) for inhibiting the operation of the device.
  • the electric charge stored in the condenser 65 is discharged through the constantly closing contact 66 b of the relay 66 .
  • the constantly opening contact 63 a 1 of the relay 63 and the constantly closing contact 68 b 1 of the relay 68 to which the enable contacts 61 - 4 and 62 - 4 are connected close the circuit so that the states of the enable contacts 61 - 4 and 62 - 4 become stand-by states that the enable contact output signal can be outputted.
  • the enable contact output signal of the other enable contacts 61 - 5 and 62 - 5 can be also outputted in the same manner as described above (state 1 ).
  • the three position switches 61 and 62 for left and right hands are kept released to place the switches at the first operating positions.
  • a path is used that the inhibiting state 2 (state 6 ) returns to the inhibiting state (state 1 ) via an inhibiting state 3 or an inhibiting state 6 .
  • the three-position switches are placed at the second operating positions once by both the hands. Then, even when one hand is released, the one hand gripping the teach pendant can be smoothly changed to the other hand without making the operation of a robot to be inhibited.
  • the operation is immediately shifted to the inhibiting state so that the operation can be inhibited. Thus, the operation with a high safety can be realized.
  • the return of both the three-position switches to the first operating positions is detected to close the output circuits of the enable contact output signals, that is, cancel the interruption. Accordingly, when the outputs of the enable contact output signals are interrupted once, the outputs of the enable contact output signals can be assuredly interrupted irrespective of the shift timings of the states of the contacts due to switching of the operating positions of the three-position switches or the shift timings of the states of the contacts due to switching of on and off of the relays.
  • FIG. 3 is a circuit block diagram of a second embodiment for embodying the present device. This circuit is divided and provided in a teach pendant that is not shown in the drawing or the teach pendant and a device that is not illustrated like the first embodiment.
  • Reference numerals 61 and 62 designate three-position switches and are the same as those of the first embodiment. Therefore, an explanation thereof will be omitted. In this embodiment, operation detecting contacts 61 - 2 and 62 - 2 are not used.
  • Reference numerals 81 and 84 are voltage converters that input dc 24V through auxiliary contacts of the three-position switches, convert the dc 24V to a dc 5V signal and output the dc 5V signal.
  • a photo-coupler is employed and when the dc 24V is inputted, 0V is outputted. When an input is 0V, 5V is outputted.
  • the operation detecting contacts 61 - 1 and 62 - 1 and the third operating position detecting contacts 61 - 3 and 62 - 3 of the three-position switches 61 and 62 are connected to a power source of dc 24V in one side. They branch in parallel in the other side and are connected to the voltage converters 81 and 84 .
  • a signal output from the voltage converter 81 is connected to a signal processing circuit 82 .
  • a signal is processed in the signal processing circuit 82 and a result is outputted to a relay 83 .
  • a signal out put from the voltage converter 84 is connected to a signal processing circuit 85 .
  • a signal is processed in the signal processing circuit 85 and a result is outputted to a relay 86 .
  • the relay 83 and the relay 86 are connected to 0V in the other side.
  • the enable contact 61 - 4 of the three-position switch 61 for a left hand is connected in parallel with the enable contact 62 - 4 of the three-position switch 62 for a right hand and connected in series to a constantly opening contact 83 a 1 of the relay 83 to form an enable contact output signal.
  • the enable contact 61 - 5 of the three-position switch 61 for a left hand is connected in parallel with the enable contact 62 - 5 of the three-position switch 62 for a right hand and connected in series to a constantly opening contact 86 a 2 of the relay 86 to form an enable contact output signal.
  • FIG. 4 shows a signal processing table of the signal processing circuits 82 and 85 in this embodiment.
  • contact states show input signals of the signal processing circuits 82 and 85 .
  • the contacts states of the operation detecting contacts 61 - 1 and 62 - 1 and the third position detecting contacts 61 - 3 and 62 - 3 of the three-position switches 61 and 62 indicate 0 in a circuit closing state, 1 in a circuit opening state and “arbitrary” when no problem arises whether the circuit opens or closes.
  • An inner state of the signal processing circuit indicates the inner state of the signal processing circuits 82 and 85 .
  • An on-state is represented by 1
  • an off-state is represented by 0
  • an state that may be on or off state is represented by “arbitrary”.
  • a power-on state shows 1.
  • a relay output is turned off (state 11 ).
  • the power-on state indicates 0 as an off-state.
  • an inhibition detecting state and a timing state indicate 0 at the same time and a time excess state also shows 0 (state 12 ).
  • the inhibition detecting state sows 1 as an on-state when the contact state 61 - 3 indicates 1 (state 17 ), the contact state 62 - 3 indicates 1 (state 18 ) or a time elapse state shows 1 (state 16 ).
  • the inhibition detecting state shows 0 as the off-state.
  • the timing state shows 1 when the contact states 61 - 1 and 62 - 1 show 1 and the contact states 61 - 3 and 62 - 3 indicate 0 (state 15 ).
  • the timing state shows 0 except the above-described states. That is, when both the two three-position switches are operated to be located at the second operating positions, the timing state shows 1 as the on state.
  • the timing state indicates 1
  • the timing of a prescribed time is started.
  • the timing state shows 0.
  • a timing value is cleared (state 12 , state 13 , state 14 ).
  • the time excess state shows 1 and the inhibition detecting state indicates 1 as described above (state 16 ).
  • the relay output is turned on when the contact states 61 - 1 and/or 62 - 1 indicate 1 and all the power-on state, the inhibition detecting state and the time excess state show 0 (state 14 , state 14 , state 15 ).
  • the power-on state indicates 1 irrespective of an input state and the relay output is turned off (state 11 ).
  • the contact state 61 - 3 or 62 - 3 indicates 1 and an inhibiting state of 1 is established.
  • the relay output is turned off (state 17 or state 18 ).
  • the signal process in the signal processing circuits 82 and 85 is described.
  • the signal processing circuits 82 and 85 may be readily realized by combining logic elements on the basis of the above-description. Further, when a logic operation element such as a CPU is employed to perform the signal process, the same effects can be realized.
  • the present invention is applied to a safety device when an operator comes near to an automatic machine operating in accordance with the power of a motor or to an operating switch for instructing the operation of the automatic machine, so that the safety of the operator can be ensured and the reliability of the device can be improved.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Numerical Control (AREA)
US10/559,336 2003-06-09 2004-05-28 Teach pendant control method and device Expired - Lifetime US7337014B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2003-163212 2003-06-09
JP2003163212A JP3951131B2 (ja) 2003-06-09 2003-06-09 ティーチペンダントの制御方法および装置
PCT/JP2004/007347 WO2004109414A1 (ja) 2003-06-09 2004-05-28 ティーチペンダントの制御方法および装置

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US7337014B2 true US7337014B2 (en) 2008-02-26

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JP (1) JP3951131B2 (ja)
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WO (1) WO2004109414A1 (ja)

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US20240001563A1 (en) * 2021-06-03 2024-01-04 Panasonic Intellectual Property Management Co., Ltd. Enable switch device and load drive control apparatus equipped with same

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JP3951131B2 (ja) * 2003-06-09 2007-08-01 株式会社安川電機 ティーチペンダントの制御方法および装置
JP2006167884A (ja) * 2004-12-17 2006-06-29 Nachi Fujikoshi Corp ロボット教示装置およびその制御方法
JP6058378B2 (ja) * 2012-12-17 2017-01-11 株式会社ダイヘン ロボット制御システム
US9625884B1 (en) * 2013-06-10 2017-04-18 Timothy Harris Ousley Apparatus for extending control and methods thereof
JP6175976B2 (ja) * 2013-08-22 2017-08-09 村田機械株式会社 産業用機械
JP6846411B2 (ja) * 2017-03-21 2021-03-24 Idec株式会社 イネーブルスイッチおよび操作部
US10903107B2 (en) * 2017-07-11 2021-01-26 Brooks Automation, Inc. Semiconductor process transport apparatus comprising an adapter pendant

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JP2002355781A (ja) 2001-05-30 2002-12-10 Toyota Motor Corp コントロール装置及びその制御方法
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US20060138989A1 (en) * 2003-06-09 2006-06-29 Keijiro Yuasa Teach pendant control method and device
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US5115179A (en) * 1987-10-02 1992-05-19 Hitachi, Ltd. Portable teaching apparatus
JPH08171409A (ja) 1994-12-20 1996-07-02 Tokico Ltd ロボットの制御装置
US6160324A (en) * 1997-08-25 2000-12-12 Fanuc Ltd. Deadman switch mechanism for emergency stop of robot and teaching operation
JP2002083522A (ja) 2000-09-06 2002-03-22 Idec Izumi Corp 教示ペンダントのイネーブル装置
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US20030018411A1 (en) * 2001-05-30 2003-01-23 Kazutsugu Suita Control apparatus and control method for the same
US20060212167A1 (en) * 2002-12-27 2006-09-21 Masaki Nobuhiro Enabling unit of teaching pendant
US20060138989A1 (en) * 2003-06-09 2006-06-29 Keijiro Yuasa Teach pendant control method and device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20240001563A1 (en) * 2021-06-03 2024-01-04 Panasonic Intellectual Property Management Co., Ltd. Enable switch device and load drive control apparatus equipped with same
US12337465B2 (en) * 2021-06-03 2025-06-24 Panasonic Intellectual Property Management Co., Ltd. Enable switch device and load drive control apparatus equipped with same

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WO2004109414A1 (ja) 2004-12-16
JP2004362497A (ja) 2004-12-24
DE112004000987B4 (de) 2019-09-12
JP3951131B2 (ja) 2007-08-01
US20060138989A1 (en) 2006-06-29
DE112004000987T5 (de) 2006-04-13

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